Frameless, Coreless, or Axial Flux: Which Motor Actually Belongs in a Humanoid Joint?
Sarah Xiao Three motor topologies, three bills every joint pays: torque, response and heat. Why Optimus uses 28 frameless motors, where coreless…
Humanoid joints
Why the Harmonic Reducer Is the Soul of a Humanoid Joint
Theodore Li 14 of Optimus's 28 rotary actuators use a harmonic reducer. The mechanism, the 30% tooth engagement, and the flexspline fatigue…
Harmonic, RV or Planetary: Which Reducer Goes Where in a Humanoid
The reducer is 36% of a humanoid's cost and every joint wants a different one. How the three principles work,…